JP2017207537A - Unmanned aircraft, center of gravity position adjustment method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify a mechanism or a method for adjusting a position of center of gravity of an object.SOLUTION: An imaging device includes: an imaging device; a housing for holding the imaging device internally; and a first center of gravity position adjustment unit that is held in the housing to adjust a position of center of gravity of the imaging device. The first center of gravity position adjustment unit may include: a fluid; a container for accommodating the fluid; and one or a plurality of valves for controlling movement of the fluid in the container. The container may include a first accumulation tank and a second accumulation tank, and a tube for moving the fluid between the first and the second accumulation tanks.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an imaging device, an imaging system, a moving body, a lens device, a gravity center position adjustment system, a gravity center position adjustment method, and a program.

Patent Document 1 discloses a mass balance adjustment mechanism. The mass balance adjusting mechanism includes a plurality of cylinders that are provided with a plurality of actuators and in which a liquid is sealed, a connection hose that connects the plurality of cylinders, and a control unit. The control unit moves the center of gravity of the cylinder by driving a plurality of actuators, and adjusts the mass balance.
Patent Document 1 JP 2009-210709 A

  It is desired to further simplify the mechanism or method for adjusting the position of the center of gravity of an object.

  In one aspect, the imaging device includes an imaging device, a housing that holds the imaging device inside, and a first center-of-gravity position adjustment unit that is held inside the housing and adjusts the position of the center of gravity of the imaging device.

  The first center-of-gravity position adjustment unit may include a fluid. The first center-of-gravity position adjustment unit may include a container that contains a fluid. The first center-of-gravity position adjustment unit may include one or more valves that control the movement of the fluid in the container.

  The container may have a first storage tank and a second storage tank. The container may have a tube that moves fluid between the first storage tank and the second storage tank.

  The volume of the 1st storage tank and the 2nd storage tank may be larger than the volume of a pipe. The first center-of-gravity position adjustment unit may be arranged so that the position of the center of gravity of the imaging device can be adjusted along the optical axis.

  The imaging device may further include a second center-of-gravity position adjustment unit that is held inside the housing and adjusts the position of the center of gravity of the imaging device.

  The first center-of-gravity position adjustment unit and the second center-of-gravity position adjustment unit may be arranged so that the position of the center of gravity of the imaging device can be adjusted in the first direction.

  The first center-of-gravity position adjustment unit and the second center-of-gravity position adjustment unit may be disposed across the optical axis of the imaging apparatus so that the position of the center of gravity of the imaging apparatus can be adjusted along the optical axis.

  The first center-of-gravity position adjustment unit is arranged so that the position of the center of gravity of the imaging device can be adjusted in the first direction, and the second center-of-gravity position adjustment unit is a second that differs from the first direction in the position of the center of gravity of the imaging device. It may be arranged to be adjustable in the direction.

  The first center-of-gravity position adjustment unit is arranged so that the position of the center of gravity of the imaging device can be adjusted along the optical axis, and the second center-of-gravity position adjustment unit is configured to adjust the position of the center of gravity of the imaging device along a direction different from the optical axis. It may be arranged to be adjustable.

  The container may have three or more storage tanks. The container may have two or more tubes that move fluid between each of the three or more reservoirs.

  The container may be rectangular. A container may have four storage tanks arrange | positioned at the position of four vertexes of a rectangular shape. The container may have four tubes arranged at the positions of the four sides of the rectangular shape.

  In one aspect, an imaging system includes the imaging device and a lens device that focuses light on an imaging element. The lens device includes one or more lenses, a lens barrel that holds the one or more lenses inside, and a third center-of-gravity position adjustment unit that is held inside the lens barrel and adjusts the position of the center of gravity of the lens device. You may be prepared. The imaging system may further include a gimbal that rotatably holds the imaging device and the lens device.

  In one aspect, the moving body moves with the imaging system.

  In one aspect, the lens device includes one or more lenses, a lens barrel that holds the one or more lenses inside, and a first gravity center position that is held inside the lens barrel and adjusts the position of the center of gravity of the lens device. And an adjustment unit.

  In one aspect, the center-of-gravity position adjustment system includes a fluid, a container that contains the fluid, a first center-of-gravity position adjustment unit that includes one or more first valves that control movement of the fluid in the container, and a first center-of-gravity position adjustment. A position of the center of gravity of the object system including the target object and the first center-of-gravity position adjustment unit, and a control unit that controls opening and closing of the one or more first valves. Is obtained, and based on the information indicating the position of the center of gravity, the posture of the object is changed, and the posture of the object is maintained in a state where one or a plurality of first valves are opened for a predetermined time. Later, one or more valves are closed.

  The control unit changes the posture of the object, maintains the posture of the object in a state where the one or more first valves are open for a predetermined time, and then closes the one or more first valves, The procedure for obtaining information indicating the position of the center of gravity of the object system including the object and the first center of gravity position adjustment unit is performed until the position of the center of gravity of the object system including the object and the first center of gravity position adjustment unit falls within the first reference range. You can repeat it.

  The center-of-gravity position adjustment system includes a fluid, a container that contains the fluid, and one or a plurality of second valves that control movement of the fluid in the container. The center-of-gravity position adjustment system adjusts the center of gravity of the object system in a different direction from the first center-of-gravity position adjustment unit. You may further provide the 2nd gravity center position adjustment part which can adjust a position. The control unit changes the posture of the object when the position of the center of gravity of the object system including the object and the first center-of-gravity position adjustment unit is within the first reference range, and changes the posture of the object for a predetermined time, one or more first Procedure for obtaining information indicating the position of the center of gravity of the object system including the object and the second center-of-gravity position adjustment unit after closing the one or plural second valves after maintaining the posture of the object with the two valves open May be repeated until the position of the center of gravity of the object system including the object and the second center of gravity position adjusting unit falls within the second reference range.

  The control unit refers to information in which the position of the center of gravity of the object system including the object and the first center-of-gravity position adjustment unit is associated with the posture of the object, and the object system including the object and the first center-of-gravity position adjustment unit The information indicating the posture of the object corresponding to the position of the center of gravity of the object is acquired, the posture of the object is changed based on the information indicating the posture of the object, and a predetermined time, or one or more first valves One or more first valves may be closed after maintaining the posture of the object in a state where is open.

  The center-of-gravity position adjustment system includes a fluid, a container that contains the fluid, and one or a plurality of second valves that control movement of the fluid in the container. The center-of-gravity position adjustment system adjusts the center of gravity of the object system in a different direction from the first center-of-gravity position adjustment unit. You may further provide the 2nd gravity center position adjustment part which can adjust a position. The control unit refers to information in which the position of the center of gravity of the object system including the object and the second center-of-gravity position adjustment unit is associated with the posture of the object, and the object system including the object and the second center-of-gravity position adjustment unit The information indicating the posture of the object corresponding to the position of the center of gravity of the object is acquired, the posture of the object is changed based on the information indicating the posture of the object, a predetermined time, one or more second valves One or more second valves may be closed after maintaining the posture of the object in a state where is open.

  The control unit drives the gimbal that rotatably holds the object using one or a plurality of motors, thereby changing the posture of the object, and preliminarily selecting the object as information indicating the position of the center of gravity of the object. You may acquire the drive torque of the 1 or several motor at the time of maintaining to the defined attitude | position.

  In one aspect, the center-of-gravity position adjustment method determines the position of the center of gravity of an object to which a fluid, a container that contains the fluid, and a center-of-gravity position adjustment unit that includes one or more valves that control movement of the fluid in the container are attached. Obtaining the information to be shown, changing the posture of the object based on the information indicating the position of the center of gravity, and maintaining the posture of the object with a predetermined time, with one or more valves open. And closing one or more valves.

  In one aspect, the program includes information indicating the position of the center of gravity of an object to which a fluid, a container that contains the fluid, and a center-of-gravity position adjustment unit having one or more valves that control movement of the fluid in the container are attached. Acquiring, changing the posture of the object based on the information indicating the position of the center of gravity, maintaining the posture of the object with one or more valves opened for a predetermined time, and And closing the one or more valves.

  The above summary of the present invention does not enumerate all of the features of the present invention. A sub-combination of these feature groups can also be an invention.

It is a figure which shows an example of a structure of a system. It is a figure which shows an example of the functional block of UAV100. It is a figure which shows the other example of the functional block of UAV100. 5 is a perspective view illustrating an example of a gravity center position adjustment unit 150. FIG. 5 is a diagram illustrating an example of an arrangement of a gravity center position adjustment unit 150. FIG. 5 is a diagram illustrating an example of an arrangement of a gravity center position adjustment unit 150. FIG. 5 is a diagram illustrating an example of an arrangement of a gravity center position adjustment unit 150. FIG. It is a flowchart which shows an example of a gravity center position adjustment procedure. It is a flowchart which shows the other example of a gravity center position adjustment procedure. 6 is a diagram illustrating an example of an arrangement of a plurality of gravity center position adjustment units 150. FIG. It is a flowchart which shows the other example of a gravity center position adjustment procedure. FIG. 6 is a perspective view showing another example of the center-of-gravity position adjustment unit 150 and a diagram showing an example of its arrangement. It is a figure which shows the other example of a structure of a system. It is a figure which shows the other example of arrangement | positioning of the several gravity center position adjustment part 150. FIG. It is a flowchart which shows the other example of a gravity center position adjustment procedure. It is a flowchart which shows the other example of a gravity center position adjustment procedure.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Not all combinations of features described in the embodiments are essential for the solution of the invention.

  The claims, the description, the drawings, and the abstract include matters subject to copyright protection. The copyright owner will not object to any number of copies of these documents as they appear in the JPO file or record. However, in other cases, all copyrights are reserved.

  FIG. 1 is a diagram illustrating an example of a system configuration. The system comprises an unmanned aerial vehicle (UAV) 100. The UAV 100 includes a UAV main body 101, a plurality of rotor blades 108, a gimbal 110, an imaging device 140, and a lens device 160. The UAV 100 is an example of a moving body that moves with an object. The moving body is a concept including, in addition to UAV, other aircraft that moves in the air, vehicles that move on the ground, ships that move on the water, and the like. The gimbal 110, the imaging device 140, and the lens device 160 are an example of an imaging system.

  The UAV 100 flies by controlling the rotation of the plurality of rotor blades 108. The UAV 100 flies using, for example, four rotary wings 108. The number of rotor blades 108 is not limited to four. The UAV 100 may be a fixed wing aircraft that does not have the rotor blades 108.

  The gimbal 110 supports the imaging device 140 and the lens device 160 so that the postures of the imaging device 140 and the lens device 160 with respect to the gimbal 110 can be changed. The gimbal 110 may support the imaging device 140 and the lens device 160 so as to be rotatable about at least one axis. For example, the gimbal 110 supports the imaging device 140 and the lens device 160 so as to be rotatable about the pitch axis, the roll axis, and the yaw axis. The gimbal 110 may hold the imaging device 140 or the lens device 160.

  The imaging device 140 generates and records image data of an optical image formed through the lens device 160. The lens device 160 may be provided integrally with the imaging device 140. The lens device 160 may be a so-called interchangeable lens and may be provided so as to be detachable from the imaging device 140.

  FIG. 2 shows an example of functional blocks of the UAV 100. The UAV 100 includes a communication interface 102, a main control unit 104, a memory 106, a gimbal 110, an imaging device 140, and a lens device 160.

  The communication interface 102 communicates with an external transmitter. The communication interface 102 receives various commands from a remote transmitter. The main control unit 104 controls the flight of the UAV 100 according to the command received from the transmitter. The main control unit 104 controls the gimbal 110, the imaging device 140, and the lens device 160. The main control unit 104 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The memory 106 stores a program necessary for the main control unit 104 to control the gimbal 110, the imaging device 140, and the lens device 160. The memory 106 may be a computer-readable recording medium, and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 106 may be provided in the housing of the UAV 100. It may be provided so as to be removable from the housing of the UAV 100. The main control unit 104 may cause the UAV 100 or the imaging device 140 to function as a gravity center position adjustment system. In this case, a program for adjusting the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 is read from the memory 106 and executed.

  The gimbal 110 includes a gimbal control unit 112, a yaw axis driver 114, a pitch axis driver 116, a roll axis driver 118, a yaw axis drive motor 124, a pitch axis drive motor 126, a roll axis drive motor 128, and a support mechanism 130.

  The support mechanism 130 supports the imaging device 140 and the lens device 160 so as to be rotatable about the yaw axis, the pitch axis, and the roll axis. The support mechanism 130 includes a yaw axis rotation mechanism 134, a pitch axis rotation mechanism 136, and a roll axis rotation mechanism 138. The yaw axis rotation mechanism 134 uses the yaw axis drive motor 124 to rotate the imaging device 140 and the lens device 160 about the yaw axis. The pitch axis rotation mechanism 136 uses the pitch axis drive motor 126 to rotate the imaging device 140 and the lens device 160 around the pitch axis. The roll shaft rotation mechanism 138 rotates the imaging device 140 and the lens device 160 around the roll shaft using the roll shaft drive motor 128.

  The gimbal control unit 112 outputs operation commands indicating respective rotation angles to the yaw axis driver 114, the pitch axis driver 116, and the roll axis driver 118 in accordance with the operation command of the gimbal 110 from the main control unit 104. To do. The yaw axis driver 114, the pitch axis driver 116, and the roll axis driver 118 drive the yaw axis drive motor 124, the pitch axis drive motor 126, and the roll axis drive motor 128 in accordance with an operation command indicating the rotation angle. The yaw axis rotation mechanism 134, the pitch axis rotation mechanism 136, and the roll axis rotation mechanism 138 are driven and rotated by the yaw axis drive motor 124, the pitch axis drive motor 126, and the roll axis drive motor 128, and the imaging device 140 and the lens are rotated. The posture of the device 160 is changed.

  The imaging device 140 includes an imaging control unit 142, an imaging element 144, a memory 146, and a centroid position adjustment unit 150. The imaging control unit 142 may be configured by a microprocessor such as a CPU or MPU, a microcontroller such as an MCU, or the like. The imaging control unit 142 controls the imaging device 140 and the lens device 160 in accordance with operation commands for the imaging device 140 and the lens device 160 from the main control unit 104. The imaging control unit 142 controls the gravity center position adjustment unit 150. The memory 146 may be a computer-readable recording medium and may include at least one of flash memory such as SRAM, DRAM, EPROM, EEPROM, and USB memory. The memory 146 may be provided inside the housing of the imaging device 140. The imaging device 140 may be provided so as to be removable from the housing.

  The imaging element 144 is held inside the housing of the imaging device 140, generates image data of an optical image formed through the lens device 160, and outputs it to the imaging control unit 142. The imaging control unit 142 stores the image data output from the imaging element 144 in the memory 146. The imaging control unit 142 may output and store the image data in the memory 106 via the main control unit 104.

  The centroid position adjustment unit 150 adjusts the position of the centroid of the imaging device 140. The center-of-gravity position adjustment unit 150 may be held inside the housing of the imaging device 140. The imaging device 140 may include one or a plurality of gravity center position adjustment units 150.

  The lens device 160 includes a lens control unit 162, a lens 164, a lens 166, and a lens 168. The lens 164, the lens 166, and the lens 168 are disposed inside the lens barrel of the lens device 160. A part or all of the lens 164, the lens 166, and the lens 168 may be arranged to be movable along the optical axis. The lens control unit 162 moves at least one of the lens 164, the lens 166, and the lens 168 along the optical axis in accordance with a lens operation command from the imaging control unit 142.

  In the present embodiment, an example in which the UAV 100 includes a main control unit 104, a gimbal control unit 112, an imaging control unit 142, and a lens control unit 162 will be described. However, any one control unit may execute processing executed by two or three of the main control unit 104, the gimbal control unit 112, the imaging control unit 142, and the lens control unit 162. Processing executed by the main control unit 104, the gimbal control unit 112, the imaging control unit 142, and the lens control unit 162 may be executed by one control unit.

  FIG. 3 shows another example of functional blocks of the UAV 100. The structure, function, and operation of the UAV 100 shown in FIG. 3 may be the same as the structure, function, and operation of the UAV 100 shown in FIG. 2 except as described below.

  The lens device 160 includes a gravity center position adjustment unit 150. The lens control unit 162 controls the gravity center position adjustment unit 150. The center-of-gravity position adjustment unit 150 may be provided inside the lens barrel of the lens device 160. The center-of-gravity position adjustment unit 150 may be provided outside the lens barrel of the lens device 160.

  FIG. 4 is a perspective view illustrating an example of the gravity center position adjustment unit 150. The center-of-gravity position adjustment unit 150 includes two storage tanks 152, a pipe 154, a fluid 156, and a valve 158. The two storage tanks 152 and the tube 154 function as a container that stores the fluid 156. The tube 154 moves the fluid 156 between the two reservoirs 152. The valve 158 may be disposed at the central portion of the tube 154, for example. The valve 158 may be, for example, a micro valve using MEMS, an electromagnetic valve, a piezoelectric element valve, or the like. The positions where the valves 158 are arranged and the number of the valves 158 are not limited to this example.

  The fluid 156 may be a liquid or a powder. The fluid 156 may be water, saline, mercury, dibromochloroethane, 1,1,2,2-tetrabromoethane, and the like. Each of the two storage tanks 152 has a hemispherical cavity. The tube 154 is a semi-cylindrical cavity. The volume of the two storage tanks 152 is larger than the volume of the tube 154. The volumes of the two storage tanks 152 may be the same.

  The bottom surfaces of the cavities of the two storage tanks 152 and the bottom surface of the cavities of the tubes 154 may be formed flush with each other. This facilitates movement of the fluid 156 between the two reservoirs 152 through the tube 154. The bottom surface of the cavity is a surface located below when the imaging device 140 and the lens device 160 provided with the gravity center position adjustment unit 150 are maintained in the reference posture by the gimbal 110. The reference posture is, for example, a posture in which the optical axes of the imaging device 140 and the lens device 160 are oriented in the horizontal direction.

  5 to 7 are diagrams illustrating an example of the arrangement of the gravity center position adjusting unit 150. FIG. In FIGS. 5 to 7, outlines of the casing 141 of the imaging device 140 and the lens barrel 161 of the lens device 160 are schematically shown by dotted lines.

  In the example illustrated in FIG. 5, the center-of-gravity position adjustment unit 150 is disposed on the inner surface of the central portion of the bottom of the housing 141 of the imaging device 140 so that the position of the center of gravity of the imaging device 140 can be adjusted along the optical axis. . The center-of-gravity position adjustment unit 150 may be arranged so that the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted along the optical axis. That is, the center-of-gravity position adjustment unit 150 may be arranged so that at least a component in a direction parallel to the optical axis is included in the moving direction of the fluid 156. In this specification, the optical axis means the optical axis of the imaging device 140, that is, the optical axes of the lens 164, the lens 166, and the lens 168 included in the lens device 160.

  The plurality of gravity center position adjustment units 150 may be arranged so that the position of the gravity center of the imaging device 140 can be adjusted in the first direction. In the example illustrated in FIG. 6, two gravity center position adjustment units 150 are arranged on the inner surface of the bottom of the housing 141 of the imaging device 140 so that the position of the gravity center of the imaging device 140 can be adjusted along the optical axis. The two center-of-gravity position adjustment units 150 may be arranged so that the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted along the optical axis. The tubes 154 of the two center-of-gravity position adjustment units 150 may be disposed substantially parallel to the optical axis with the optical axes of the imaging device 140 and the lens device 160 interposed therebetween.

  In the example illustrated in FIG. 7, the center-of-gravity position adjustment unit 150 is disposed on the inner surface of the bottom of the lens barrel 161 of the lens device 160 so that the position of the center of gravity of the lens device 160 can be adjusted along the optical axis. The center-of-gravity position adjustment unit 150 is arranged on the inner surface of the bottom of the lens barrel 161 of the lens device 160 so that the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted along the optical axis.

  The position at which the gravity center position adjustment unit 150 is arranged is not limited to the above. For example, the gravity center position adjustment unit 150 may be arranged on the inner surface of the ceiling portion of the housing 141 or the lens barrel 161 or the inner surface of the side portion. . The center-of-gravity position adjustment unit 150 may be disposed on the inner surface of the bottom or ceiling of the housing 141 or the lens barrel 161 obliquely so as to cross the optical axis.

  FIG. 8 is a flowchart illustrating an example of the center-of-gravity position adjustment procedure. The adjustment of the position of the center of gravity is performed before the UAV 100 flies, for example. The main control unit 104 instructs the imaging control unit 142 to make the valve 158 of the gravity center position adjustment unit 150 open. The imaging control unit 142 makes the valve 158 open (S100). That is, the imaging control unit 142 opens the valve 158 when the valve 158 is closed, and keeps the valve 158 when the valve 158 is open.

  The main control unit 104 instructs the gimbal control unit 112 to set the imaging device 140 and the lens device 160 to the reference posture state. The gimbal control unit 112 controls the yaw axis rotation mechanism 134, the pitch axis rotation mechanism 136, and the roll axis rotation mechanism 138 via the yaw axis driver 114, the pitch axis driver 116, and the roll axis driver 118, and the imaging apparatus 140 and the lens device 160 are set to the reference posture state (S102).

  The gimbal control unit 112 includes a yaw axis driver 114, a pitch axis driver 116, and a roll axis driver so as to rotate the yaw axis rotation mechanism 134, the pitch axis rotation mechanism 136, and the roll axis rotation mechanism 138 to a reference rotation angle, respectively. 118 is instructed. The yaw axis driver 114 drives the yaw axis drive motor 124 to rotate the yaw axis rotation mechanism 134 to the reference rotation angle. The pitch axis driver 116 drives the pitch axis drive motor 126 to rotate the pitch axis rotation mechanism 136 to the reference rotation angle. The roll shaft driver 118 drives the roll shaft drive motor 128 to rotate the roll shaft rotation mechanism 138 to the reference rotation angle. The reference rotation angle is an angle at which the optical axes of the imaging device 140 and the lens device 160 are in a state along the horizontal direction, for example.

  The main control unit 104 waits for a predetermined time after the imaging device 140 and the lens device 160 are in the reference posture state (S104). Thereby, the state of the fluid 156 in the container of the gravity center position adjusting unit 150 is stabilized. Next, the main control unit 104 closes the valve 158 (S106).

  The main control unit 104 acquires information indicating the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110 (S108). The information indicating the position of the center of gravity is, for example, a current value that the pitch axis driver 116 supplies to the pitch axis drive motor 126 when the pitch axis rotation mechanism 136 is maintained at the reference rotation angle. The information indicating the position of the center of gravity may be the drive torque of the pitch axis drive motor 126 when the pitch axis rotation mechanism 136 is maintained at the reference rotation angle.

  The main control unit 104 determines whether or not the position of the center of gravity is within the reference range (S110). If the position of the center of gravity is within the reference range, the main control unit 104 determines that it is not necessary to further adjust the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110, and adjusts the position of the center of gravity. Exit. The main control unit 104 may determine that the position of the center of gravity is within the reference range if the current value or drive torque supplied to the pitch axis drive motor 126 is equal to or less than a predetermined reference value.

  If the position of the center of gravity is outside the reference range, the main control unit 104 determines a posture according to the number of trials of center of gravity position adjustment (S112). The main control unit 104 may determine a rotation angle indicating an amount by which the pitch axis rotation mechanism 136 is rotated from the reference rotation angle based on the number of trials. The main control unit 104 may determine a rotation angle proportional to the number of trials. The main control unit 104 may determine the rotation angle so that the amount of inclination increases in the optical axis direction around the pitch axis of the imaging device 140 and the lens device 160 as the number of trials increases.

  The main control unit 104 determines whether or not the determined posture is outside the allowable range (S114). The main control unit 104 may determine whether the determined posture is outside the allowable range by determining whether the determined rotation angle is outside the allowable range. When the reference rotation angle is 0 degree, the main control unit 104 may determine that the determined posture is within the allowable range if the rotation angle is within 90 degrees.

  If the determined posture is out of the allowable range, it is determined that the gravity center position cannot be adjusted sufficiently, and the main control unit 104 notifies an error (S116). On the other hand, if the determined posture is within the allowable range, the main control unit 104 changes the imaging device 140 and the lens device 160 to the determined posture (S118). The main control unit 104 may instruct the pitch axis driver 116 to rotate the determined rotation angle and pitch axis rotation mechanism 136.

  Next, the main control unit 104 opens the valve 158 via the imaging control unit 142 (S120). The main control unit 104 may open the valve 158 before rotating the pitch axis rotating mechanism 136, after rotating the pitch axis rotating mechanism 136, or while rotating the pitch axis rotating mechanism 136.

  The main control unit 104 waits for a predetermined time after opening the valve 158 (S122). Thereby, the fluid 156 in the container of the gravity center position adjustment unit 150 is moved. Thereafter, the main control unit 104 closes the valve 158 (S124). After closing the valve 158, the main control unit 104 changes the imaging device 140 and the lens device 160 to the reference posture (S126). The main control unit 104 may instruct the pitch axis driver 116 to rotate the pitch axis rotation mechanism 136 to the reference rotation angle.

  The main control unit 104 waits for a predetermined time after changing the imaging device 140 and the lens device 160 to the reference posture (S130). Next, the main control unit 104 acquires the position of the center of gravity again (S108). The main control unit 104 repeats the processing from S112 onward until the position of the center of gravity falls within the reference range or the determined posture is outside the allowable range.

  As described above, the main control unit 104 changes the postures of the imaging device 140 and the lens device 160. Next, the postures of the imaging device 140 and the lens device 160 are maintained with the valve 158 opened for a predetermined time. Thereafter, the procedure of closing the valve 158 and obtaining information indicating the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 is repeated until the position of the center of gravity of the object system falls within the reference range.

  As a result, the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 is adjusted. Variations in the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110 due to the size and weight of the imaging device 140 and the lens device 160 attached to the gimbal 110 can be suppressed. For example, the driving torque of the driving motor necessary for the gimbal 110 to change the posture of the imaging device 140 and the lens device 160 is suppressed from fluctuating due to the difference in the position of the center of gravity. Therefore, it is possible to suppress an error from occurring in the control of the postures of the imaging device 140 and the lens device 160. In order to maintain the imaging device 140 and the lens device 160 in the reference posture, the power supplied to the pitch axis drive motor 126 can be reduced.

  In the above procedure, the example in which the main control unit 104 determines the rotation angle proportional to the number of trials has been described. However, the main control unit 104 may determine a rotation angle that is inversely proportional to the number of trials. The main control unit 104 may determine the rotation angle so that the amount of tilt around the pitch axis of the imaging device 140 and the lens device 160 decreases as the number of trials increases. The main control unit 104 may randomly determine the rotation angle regardless of the number of trials. The main control unit 104 may determine the rotation angle based on the types of the imaging device 140 and the lens device 160 supported by the gimbal 110.

  FIG. 9 is a flowchart showing another example of the center-of-gravity position adjustment procedure. The adjustment of the position of the center of gravity is performed before the UAV 100 flies, for example. The main control unit 104 makes the valve 158 open (S200). The main control unit 104 instructs the gimbal control unit 112 to set the imaging device 140 and the lens device 160 to the reference posture state. The gimbal control unit 112 controls the yaw axis rotation mechanism 134, the pitch axis rotation mechanism 136, and the roll axis rotation mechanism 138 via the yaw axis driver 114, the pitch axis driver 116, and the roll axis driver 118, and the imaging apparatus 140 and the lens device 160 are set to the reference posture state (S202).

  Next, the main control unit 104 waits for a predetermined time (S204). Thereby, the state of the fluid 156 in the container of the gravity center position adjusting unit 150 is stabilized. Thereafter, the main control unit 104 acquires information indicating the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 (S206). The information indicating the position of the center of gravity is, for example, a current value that the pitch axis driver 116 supplies to the pitch axis drive motor 126 when the reference posture is maintained. The information indicating the position of the center of gravity may be the drive torque of the pitch axis drive motor 126 when the reference posture is maintained.

  The main control unit 104 acquires information indicating the postures of the imaging device 140 and the lens device 160 corresponding to the position of the center of gravity (S208). For example, the memory 106 stores in advance a table in which the position of the center of gravity is associated with the postures of the imaging device 140 and the lens device 160. The main control unit 104 may refer to a table stored in the memory 106 and acquire information indicating the postures of the imaging device 140 and the lens device 160 corresponding to the position of the center of gravity.

  The postures of the imaging device 140 and the lens device 160 associated with the position of the center of gravity are represented by, for example, a rotation angle indicating an amount by which the imaging device 140 and the lens device 160 are rotated from the reference rotation angle. The postures of the imaging device 140 and the lens device 160 may be represented by a rotation angle indicating an amount by which the pitch axis rotation mechanism 136 is rotated from the reference rotation angle.

  The memory 106 may store a table in which the position and orientation of the center of gravity are associated with each combination of the imaging device 140 and the lens device 160. For example, the imaging device 140 can mount the first lens device and the second lens device as the lens device 160. In this case, the memory 106 stores a table in which the position of the center of gravity of the object system including the imaging device 140 and the first lens device is associated with the postures of the imaging device 140 and the first lens device. The memory 106 further stores a table in which the position of the center of gravity of the object system including the imaging device 140 and the second lens device is associated with the postures of the imaging device 140 and the second lens device. The main control unit 104 may acquire information indicating the posture of the imaging device 140 and the lens device 160 corresponding to the rotation angle to be tilted with reference to a table corresponding to the combination of the imaging device 140 and the lens device 160. The main control unit 104 acquires identification information of the imaging device 140 and the lens device 160 from the imaging device 140 and the lens device 160, and specifies a combination of the imaging device 140 and the lens device 160 based on the acquired identification information. You can do it.

  Next, the main control unit 104 changes the postures of the imaging device 140 and the lens device 160 based on the acquired information indicating the postures of the imaging device 140 and the lens device 160 (S210). The main control unit 104 rotates the pitch axis rotation mechanism 136 through the pitch axis driver 116 by a rotation angle that should be inclined from the reference rotation angle.

  The main control unit 104 waits for a predetermined time after rotating the pitch axis rotation mechanism 136 (S212). Thereby, the state of the fluid 156 in the container of the gravity center position adjusting unit 150 is stabilized. Thereafter, the main control unit 104 closes the valve 158 (S214).

  With the above procedure, the state of the fluid 156 in the container of the center-of-gravity position adjustment unit 150 in which the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 is within the reference range can be realized.

  FIG. 10 is a diagram illustrating another example of the arrangement of the plurality of gravity center position adjustment units 150. One of the plurality of center-of-gravity position adjustment units 150 may be arranged so that the position of the center of gravity of the imaging device 140 can be adjusted in the first direction. The other of the center-of-gravity position adjustment units 150 may be arranged so that the position of the center of gravity of the imaging device 140 can be adjusted in a second direction different from the first direction. That is, the plurality of center-of-gravity position adjustment units 150 may be arranged so that the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in different directions. One of the plurality of center-of-gravity position adjustment units 150 may be arranged so that the position of the center of gravity of the object system can be adjusted along the optical axis. The other of the plurality of center-of-gravity position adjustment units 150 may be arranged so that the position of the center of gravity of the object system can be adjusted along a direction perpendicular to the optical axis. That is, the other center-of-gravity position adjustment unit 150 may be disposed so that the moving direction of the fluid 156 includes at least a component in a direction perpendicular to the optical axis.

  The two center-of-gravity position adjustment units 150 may be arranged so that the position of the center of gravity of the object system including the imaging device 140 can be adjusted along the optical axis. The two center-of-gravity position adjustment units 150 may be disposed on the inner surface of the bottom of the housing 141 of the imaging device 140 with the optical axis of the imaging device 140 interposed therebetween. The two center-of-gravity position adjustment units 150 may be arranged on the inner surface of the bottom portion of the housing 141 of the imaging device 140 along the optical axis of the imaging device 140 so as to be separated from the two side surfaces of the imaging device 140.

  The remaining center-of-gravity position adjustment unit 150 may be disposed between the two center-of-gravity position adjustment units 150 from one side surface of the housing 141 toward the other side surface. The remaining center-of-gravity position adjustment unit 150 may be arranged so that the position of the center of gravity of the object system including the imaging device 140 can be adjusted along a direction perpendicular to the optical axis. The remaining center-of-gravity position adjustment unit 150 may be disposed between the two center-of-gravity position adjustment units 150 in the center portion of the inner surface of the bottom of the housing 141 along the direction perpendicular to the optical axis.

  The plurality of center-of-gravity position adjustment units 150 may be arranged in the lens barrel 161 of the lens device 160 so that the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in different directions. The plurality of center-of-gravity position adjustment units 150 may be disposed in the lens barrel 161 of the lens device 160 along the optical axis direction and the direction perpendicular to the optical axis.

  By arranging the plurality of center-of-gravity position adjustment units 150 in this way, the position of the center of gravity of the object system including the imaging device 140 can be adjusted in different directions. For example, the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in a direction along the optical axis and a direction perpendicular to the optical axis.

  FIG. 11 is a flowchart illustrating another example of the gravity center position adjustment procedure. The flowchart shown in FIG. 11 includes a center-of-gravity position adjustment unit 150 in which the imaging device 140 is arranged so that the position of the center of gravity of the object system can be adjusted in the direction along the optical axis, and the center of gravity of the object system in the direction perpendicular to the optical axis. It is an example of a center-of-gravity position adjustment procedure in the case of including a center-of-gravity position adjustment unit 150 that can be adjusted in position.

  The main control unit 104 rotates the imaging device 140 and the lens device 160 around the pitch axis in accordance with the procedure shown in FIG. 8 or FIG. 9, and the center-of-gravity position adjustment unit 150 in the direction along the roll axis (optical axis). The used center-of-gravity position adjustment is executed (S300). Next, the main control unit 104 rotates the imaging device 140 and the lens device 160 around the roll axis instead of the pitch axis according to a procedure similar to the procedure shown in FIG. 8 or FIG. The center-of-gravity position adjustment is executed using the center-of-gravity position adjustment unit 150 in the direction along the pitch axis instead of the center-of-gravity position adjustment unit 150 (S302).

  The main control unit 104 executes the gravity center position adjustment using the gravity center position adjustment unit 150 in the direction along the pitch axis, and then executes the gravity center position adjustment using the gravity center position adjustment unit 150 in the direction along the roll axis. It's okay. The main control unit 104 executes the gravity center position adjustment using the gravity center position adjustment unit 150 in the direction along the pitch axis and the gravity center position adjustment using the gravity center position adjustment unit 150 in the direction along the roll axis in parallel. May be.

  With the above procedure, the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in the direction along the optical axis and in the direction perpendicular to the optical axis. Here, the container of the center-of-gravity position adjustment unit 150 has been described as an example having two storage tanks. However, the container of the center-of-gravity position adjustment unit 150 may include three or more storage tanks and two or more pipes that move fluid between each of the three or more storage tanks.

  FIG. 12 is a perspective view illustrating another example of the center-of-gravity position adjustment unit 150 and a diagram illustrating another example of the arrangement. The container of the gravity center position adjustment unit 150 includes four storage tanks 152 and four pipes 154. The container of the gravity center position adjustment unit 150 may be rectangular. The four storage tanks 152 may be arranged at the positions of the four apexes of the rectangular shape. The four tubes 154 may be disposed at the positions of four sides of the rectangular shape. By making the container of the center-of-gravity position adjustment unit 150 into such a shape, the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted respectively in the optical axis direction and in the direction perpendicular to the optical axis.

  The shape of the container of the center-of-gravity position adjustment unit 150 is not limited to the above, and may be annular, annular, or elliptical. The center-of-gravity position adjustment unit 150 having a rectangular, annular, annular, or elliptical container is disposed on the inner surface of the bottom of the housing 141, the inner surface of the ceiling of the housing 141, or the inner surfaces of both sides of the housing 141. May be.

  When the center of gravity position adjustment unit 150 as shown in FIG. 12 is arranged in the housing 141, the main control unit 104 performs the center of gravity position adjustment as follows, for example, according to the same procedure as the procedure shown in FIG. You can do it.

  The main control unit 104 makes the valve 158 open via the imaging control unit 142 (S100). The main control unit 104 puts the imaging device 140 and the lens device 160 into the reference posture state (S102). The main control unit 104 waits for a predetermined time after the imaging device 140 and the lens device 160 are in the reference posture state (S104). Next, the main control unit 104 closes the plurality of valves 158 via the imaging control unit 142 (S106).

  The main control unit 104 acquires information indicating the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110 (S108). The information indicating the position of the center of gravity is, for example, a current value that the pitch axis driver 116 supplies to the pitch axis drive motor 126 when the reference posture is maintained. The information indicating the position of the center of gravity may be the drive torque of the pitch axis drive motor 126 when the reference posture is maintained. The information indicating the position of the center of gravity is further a current value that the roll shaft driver 118 supplies to the roll shaft drive motor 128 when the reference posture is maintained. The information indicating the position of the center of gravity may be the driving torque of the roll shaft driving motor 128 when the reference posture is maintained.

  The main control unit 104 determines whether or not the position of the center of gravity is within the reference range (S110). If the position of the center of gravity is within the reference range, the main control unit 104 determines that it is not necessary to adjust the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110, and adjusts the position of the center of gravity. finish. The main control unit 104 has a current value or drive torque supplied to the pitch axis drive motor 126 equal to or less than a predetermined reference value, and a current value or drive torque supplied to the roll axis drive motor 128 is predetermined. If it is below the given reference value, it may be determined that the position of the center of gravity is within the reference range.

  If the position of the center of gravity is outside the reference range, the main control unit 104 determines a posture according to the number of trials of center of gravity position adjustment (S112). The main control unit 104 determines the rotation angle of the pitch axis indicating the amount by which the pitch axis rotation mechanism 136 is rotated from the reference rotation angle and the roll axis indicating the amount by which the roll axis rotation mechanism 138 is rotated from the reference angle based on the number of trials. The rotation angle may be determined.

  The main control unit 104 determines whether or not the determined posture is outside the allowable range (S114). The main control unit 104 may determine whether or not the determined posture is out of the allowable range by determining whether the determined rotation angles of the pitch axis and the roll shaft are out of the allowable range. If the determined posture is out of the allowable range, it is determined that the gravity center position adjustment has not been sufficiently performed, and the main control unit 104 notifies an error (S116).

  If the determined posture is within the allowable range, the main control unit 104 changes the imaging device 140 and the lens device 160 to the determined posture (S118). The main control unit 104 instructs the pitch axis driver 116 to rotate the determined rotation angle and pitch axis rotation mechanism 136, and causes the roll axis driver 118 to rotate the determined rotation angle and roll axis rotation mechanism 138. To instruct.

  Next, the main control unit 104 opens each valve 158 via the imaging control unit 142 (S120). The main control unit 104 waits for a predetermined time after opening each valve 158 (S122). Thereafter, the main control unit 104 closes each valve 158 via the imaging control unit 142 (S124). After closing each valve 158, the main control unit 104 changes the imaging device 140 and the lens device 160 to the reference posture (S126). The main control unit 104 may instruct the pitch axis driver 116 to rotate the pitch axis rotation mechanism 136 to the reference rotation angle, and to instruct the roll axis driver 118 to rotate the roll axis rotation mechanism 138 to the reference rotation angle.

  After changing the imaging device 140 and the lens device 160 to the reference posture, the main control unit 104 waits for a predetermined time (S130). Next, the main control unit 104 acquires the position of the center of gravity again (S108). The main control unit 104 repeats the processing from S112 onward until the position of the center of gravity falls within the reference range or the determined posture is outside the allowable range.

  With the above procedure, the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in the direction along the optical axis and in the direction perpendicular to the optical axis.

  When the center of gravity position adjustment unit 150 as shown in FIG. 12 is arranged in the housing 141, the main control unit 104 performs the center of gravity position adjustment as follows, for example, according to the same procedure as that shown in FIG. You can do it.

  The main control unit 104 makes the valve 158 open (S200). The main control unit 104 puts the imaging device 140 and the lens device 160 into the reference posture state (S202). Next, the main control unit 104 waits for a predetermined time (S204). Thereafter, the main control unit 104 acquires information indicating the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 (S206). The information indicating the position of the center of gravity is, for example, a current value that the pitch axis driver 116 supplies to the pitch axis drive motor 126 when the reference posture is maintained. The information indicating the position of the center of gravity may be the drive torque of the pitch axis drive motor 126 when the reference posture is maintained. The information indicating the position of the center of gravity is further a current value that the roll shaft driver 118 supplies to the roll shaft drive motor 128 when the reference posture is maintained. The information indicating the position of the center of gravity may be the driving torque of the roll shaft driving motor 128 when the reference posture is maintained.

  The main control unit 104 acquires information indicating the postures of the imaging device 140 and the lens device 160 corresponding to the position of the center of gravity (S208). For example, the memory 106 stores in advance a table in which combinations of pitch axis current values and roll axis current values are associated with the postures of the imaging device 140 and the lens device 160. In the table, as the postures of the imaging device 140 and the lens device 160, the rotation angle of the pitch axis indicating the amount of rotation of the pitch axis rotation mechanism 136 from the reference rotation angle and the amount of rotation of the roll axis rotation mechanism 138 from the reference rotation angle are shown. The rotation angle of the roll axis shown may be indicated. Then, the main control unit 104 may acquire information indicating the postures of the imaging device 140 and the lens device 160 corresponding to the position of the center of gravity by referring to a table stored in the memory 106.

  Next, the main control unit 104 changes the postures of the imaging device 140 and the lens device 160 based on the acquired information indicating the postures of the imaging device 140 and the lens device 160 (S210). The main control unit 104 rotates the pitch axis rotation mechanism 136 through the pitch axis driver 116 by a rotation angle that should be inclined from the reference rotation angle. Further, the main control unit 104 rotates the roll shaft rotation mechanism 138 through the roll shaft driver 118 by a rotation angle that should be inclined from the reference rotation angle.

  The main control unit 104 waits for a predetermined time after rotating the pitch axis rotating mechanism 136 and the roll axis rotating mechanism 138 (S212). Thereby, the state of the fluid 156 in the container of the gravity center position adjusting unit 150 is stabilized. Thereafter, the main control unit 104 closes each valve 158 (S214).

  With the above procedure, the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in the direction along the optical axis and in the direction perpendicular to the optical axis.

  FIG. 13 is a diagram illustrating another example of the configuration of the system. The structure, function, and operation of the UAV 100 shown in FIG. 13 may be the same as the structure, function, and operation of the UAV 100 shown in FIG. 2 or FIG. 3, except as described below.

  Each of the imaging device 140 and the lens device 160 includes a gravity center position adjustment unit 150. The imaging control unit 142 controls the gravity center position adjustment unit 150 included in the imaging device 140. The lens control unit 162 controls the center-of-gravity position adjustment unit 150 included in the lens device 160. The center-of-gravity position adjustment unit 150 included in the imaging device 140 may be provided inside the housing 141 of the imaging device 140. The center-of-gravity position adjustment unit 150 included in the lens device 160 may be provided inside the lens barrel 161 of the lens device 160.

  FIG. 14 is a diagram illustrating another example of the arrangement of the plurality of gravity center position adjustment units 150. One center-of-gravity position adjustment unit 150 may be disposed on the inner surface of the bottom of the housing 141 of the imaging device 140. The other center-of-gravity position adjustment unit 150 may be disposed on the inner surface of the bottom of the lens barrel 161 of the lens device 160.

  By providing the center-of-gravity position adjustment unit 150 in each of the imaging device 140 and the lens device 160, the range in which the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in the direction along the optical axis direction is expanded. it can.

  15A and 15B are flowcharts showing another example of the center-of-gravity position adjustment procedure. The flowcharts illustrated in FIGS. 15A and 15B are an example of the center-of-gravity position adjustment procedure when the center-of-gravity position adjustment unit 150 is provided in each of the imaging device 140 and the lens device 160.

  The main control unit 104 causes the valves 158 of the gravity center position adjustment units 150 of the imaging device 140 and the lens device 160 to be opened via the imaging control unit 142 (S400). The main control unit 104 puts the imaging device 140 and the lens device 160 into the reference posture state (S402). The main control unit 104 waits for a predetermined time after the imaging device 140 and the lens device 160 are in the reference posture state (S404). Next, the main control unit 104 closes each valve 158 of the gravity center position adjustment unit 150 of each of the imaging device 140 and the lens device 160 via the imaging control unit 142 and the lens control unit 162 (S406).

  The main control unit 104 acquires information indicating the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110 (S408). The information indicating the position of the center of gravity is, for example, a current value that the pitch axis driver 116 supplies to the pitch axis drive motor 126 when the pitch axis rotation mechanism 136 is maintained at the reference rotation angle. The information indicating the position of the center of gravity is the drive torque of the pitch axis drive motor 126 when the pitch axis rotation mechanism 136 is maintained at the reference rotation angle.

  The main control unit 104 determines whether or not the position of the center of gravity is within the reference range (S410). If the position of the center of gravity is within the reference range, the main control unit 104 determines that it is not necessary to adjust the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110, and adjusts the position of the center of gravity. finish. The main control unit 104 may determine that the position of the center of gravity is within the reference range if the current value or drive torque supplied to the pitch axis drive motor 126 is equal to or less than a predetermined reference value.

  If the position of the center of gravity is outside the reference range, the main control unit 104 determines a posture according to the number of trials of center of gravity position adjustment for the center of gravity position adjustment unit 150 of the imaging device 140 (S412). The main control unit 104 may determine the rotation angle of the pitch axis indicating the amount by which the pitch axis rotation mechanism 136 is rotated from the reference rotation angle based on the number of trials.

  The main control unit 104 determines whether or not the determined posture is outside the allowable range (S414). The main control unit 104 may determine whether or not the determined posture is out of the allowable range by determining whether or not each determined rotation angle of the pitch axis is out of the allowable range. If the determined posture is out of the allowable range, the center of gravity position adjustment with respect to the center of gravity position adjustment unit 150 of the lens device 160 shown in FIG. 15B is executed.

  On the other hand, if the determined posture is within the allowable range, the main control unit 104 changes the imaging device 140 and the lens device 160 to the determined posture (S416). The main control unit 104 instructs the pitch axis driver 116 to rotate the determined rotation angle and pitch axis rotation mechanism 136.

  Next, the main control unit 104 opens the valve 158 of the gravity center position adjustment unit 150 of the imaging device 140 via the imaging control unit 142 and the lens control unit 162 (S418). The main control unit 104 waits for a predetermined time after opening the valve 158 of the center-of-gravity position adjustment unit 150 of the imaging device 140 (S420). Thereafter, the main control unit 104 closes the valve 158 of the center-of-gravity position adjustment unit 150 of the imaging device 140 via the imaging control unit 142 (S422). After closing the valve 158, the main control unit 104 changes the imaging device 140 and the lens device 160 to the reference posture (S424). The main control unit 104 may instruct the pitch axis driver 116 to rotate the pitch axis rotation mechanism 136 to the reference rotation angle.

  The main control unit 104 waits for a predetermined time after changing the imaging device 140 and the lens device 160 to the reference posture (S426). Next, the main control unit 104 acquires the position of the center of gravity again (S408). The main control unit 104 repeats the processing from S412 onward until the position of the center of gravity falls within the reference range or the determined posture is outside the allowable range.

  If adjustment of the position of the center of gravity is not completed by adjusting the position of the center of gravity with respect to the center of gravity position adjustment unit 150 of the imaging device 140, the center of gravity position adjustment with respect to the center of gravity position adjustment unit 150 of the imaging device 140 shown in FIG.

  The main control unit 104 causes the valves 158 of the center-of-gravity position adjustment units 150 of the imaging device 140 and the lens device 160 to be opened via the imaging control unit 142 and the lens control unit 162 (S500). The main control unit 104 puts the imaging device 140 and the lens device 160 into the reference posture state (S502). The main control unit 104 waits for a predetermined time after the imaging device 140 and the lens device 160 are in the reference posture state (S504). Next, the main control unit 104 closes each valve 158 of the center-of-gravity position adjustment unit 150 of each of the imaging device 140 and the lens device 160 via the imaging control unit 142 and the lens control unit 162 (S506).

  The main control unit 104 acquires information indicating the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110 (S508). The information indicating the position of the center of gravity is, for example, a current value that the pitch axis driver 116 supplies to the pitch axis drive motor 126 when the reference posture is maintained. The information indicating the position of the center of gravity may be the drive torque of the pitch axis drive motor 126 when the reference posture is maintained.

  The main control unit 104 determines whether or not the position of the center of gravity is within the reference range (S510). If the position of the center of gravity is within the reference range, the main control unit 104 determines that it is not necessary to adjust the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110, and adjusts the position of the center of gravity. finish. The main control unit 104 may determine that the position of the center of gravity is within the reference range if the current value or drive torque supplied to the pitch axis drive motor 126 is equal to or less than a predetermined reference value.

  If the position of the center of gravity is outside the reference range, the main control unit 104 determines the posture according to the number of trials of center of gravity position adjustment with respect to the center of gravity position adjustment unit 150 of the lens device 160 (S512). The main control unit 104 may determine the rotation angle of the pitch axis indicating the amount by which the pitch axis rotation mechanism 136 is rotated from the reference rotation angle based on the number of trials.

  The main control unit 104 determines whether or not the determined posture is outside the allowable range (S514). The main control unit 104 may determine whether or not the determined posture is out of the allowable range by determining whether or not each determined rotation angle of the pitch axis is out of the allowable range. If the determined posture is outside the allowable range, if the determined posture is out of the allowable range, it is determined that the gravity center position cannot be sufficiently adjusted, and the main control unit 104 notifies an error (S516). .

  On the other hand, if the determined posture is within the allowable range, the main control unit 104 changes the imaging device 140 and the lens device 160 to the determined posture (S518). The main control unit 104 instructs the pitch axis driver 116 to rotate the determined rotation angle and pitch axis rotation mechanism 136.

  Next, the main control unit 104 opens the valve 158 of the gravity center position adjustment unit 150 of the lens device 160 via the lens control unit 162 (S520). The main control unit 104 waits for a predetermined time after opening the valve 158 of the center-of-gravity position adjustment unit 150 of the lens device 160 (S522). Thereafter, the main control unit 104 closes the valve 158 of the center-of-gravity position adjustment unit 150 of the lens device 160 via the lens control unit 162 (S524). After closing the valve 158, the main control unit 104 changes the imaging device 140 and the lens device 160 to the reference posture (S526). The main control unit 104 may instruct the pitch axis driver 116 to rotate the pitch axis rotation mechanism 136 to the reference rotation angle.

  The main control unit 104 waits for a predetermined time after changing the imaging device 140 and the lens device 160 to the reference posture (S528). Next, the main control unit 104 acquires the position of the center of gravity again (S508). The main control unit 104 repeats the processes after S512 until the position of the center of gravity falls within the reference range or the determined posture is out of the allowable range.

  With the above procedure, the position of the center of gravity can be adjusted by the center of gravity position adjusting unit 150 provided in either the imaging device 140 or the lens device 160. Therefore, the range in which the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 can be adjusted in the direction along the optical axis direction can be expanded.

  The main control unit 104 may perform the center-of-gravity position adjustment for the center-of-gravity position adjustment unit 150 of the imaging device 140 after performing the center-of-gravity position adjustment for the center-of-gravity position adjustment unit 150 of the lens device 160.

  As described above, according to each embodiment, the position of the center of gravity of the object system including the imaging device 140 and the lens device 160 with respect to the gimbal 110 is changed according to the size and weight of the imaging device 140 and the lens device 160 attached to the gimbal 110. Can be suppressed. For example, the driving torque of the driving motor necessary for the gimbal 110 to change the posture of the imaging device 140 and the lens device 160 is suppressed from fluctuating due to the difference in the position of the center of gravity. Therefore, it is possible to suppress an error from occurring in the control of the postures of the imaging device 140 and the lens device 160. In order to maintain the imaging device 140 and the lens device 160 in the reference posture, the power supplied to at least one of the pitch axis drive motor 126 and the roll axis rotation mechanism 138 can be reduced.

  At least one of the steps shown in the above embodiments may be implemented by hardware or a program instructing related hardware. The program may be stored in a computer readable recording medium. The recording medium may include at least one of a ROM, a magnetic disk, and an optical disk.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. It is apparent from the description of the scope of claims that embodiments with such changes or improvements can be included in the technical scope of the present invention.

  The execution order of each process such as operation, procedure, step, and stage in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. ”And the like, and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the specification, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. It is not a thing. The description of “vertical” may be “intersecting”.

100 UAV
101 UAV main body 102 communication interface 104 main control unit 106 memory 108 rotor blade 110 gimbal 112 gimbal control unit 114 yaw axis driver 116 pitch axis driver 118 roll axis driver 124 yaw axis drive motor 126 pitch axis drive motor 128 roll axis drive motor 130 support Mechanism 134 Yaw axis rotation mechanism 136 Pitch axis rotation mechanism 138 Roll axis rotation mechanism 140 Imaging device 141 Housing 142 Imaging control unit 144 Imaging element 146 Memory 150 Center of gravity position adjustment unit 152 Reservoir 154 Pipe 156 Fluid 158 Valve 160 Lens device 161 Mirror Tube 162 Lens control unit 164, 166, 168 Lens

Claims (25)

An imaging device,
An image sensor;
A housing that holds the image sensor inside;
An imaging apparatus comprising: a first center-of-gravity position adjustment unit that is held inside the housing and adjusts the position of the center of gravity of the imaging apparatus. The first center-of-gravity position adjustment unit is
Fluid,
A container containing the fluid;
The imaging device according to claim 1, further comprising one or more valves that control movement of the fluid in the container. The container is
A first storage tank and a second storage tank;
The imaging device according to claim 2, further comprising a tube that moves the fluid between the first storage tank and the second storage tank.   The imaging device according to claim 3, wherein volumes of the first storage tank and the second storage tank are larger than a volume of the pipe.   5. The imaging apparatus according to claim 1, wherein the first center-of-gravity position adjustment unit is arranged so that the position of the center of gravity of the imaging apparatus can be adjusted along the optical axis. The imaging apparatus according to claim 1, further comprising a second center-of-gravity position adjustment unit that is held inside the housing and adjusts the position of the center of gravity of the imaging apparatus.   The imaging apparatus according to claim 6, wherein the first center-of-gravity position adjustment unit and the second center-of-gravity position adjustment unit are arranged so that the position of the center of gravity of the imaging apparatus can be adjusted in a first direction.   8. The first centroid position adjusting unit and the second centroid position adjusting unit are arranged across the optical axis of the imaging device so that the position of the centroid of the imaging device can be adjusted along the optical axis. The imaging device described in 1.   The first center-of-gravity position adjustment unit is arranged so that the position of the center of gravity of the imaging device can be adjusted in a first direction, and the second center-of-gravity position adjustment unit sets the position of the center of gravity of the imaging device in the first direction. The imaging apparatus according to claim 6, wherein the imaging apparatus is arranged so as to be adjustable in a different direction. The first center-of-gravity position adjustment unit is arranged so that the position of the center of gravity of the imaging device can be adjusted along the optical axis,
The imaging apparatus according to claim 9, wherein the second center-of-gravity position adjustment unit is arranged so that the position of the center of gravity of the imaging apparatus can be adjusted along a direction different from the optical axis. The container is
Three or more reservoirs,
The imaging apparatus according to claim 2, further comprising two or more tubes that move the fluid between each of the three or more storage tanks. The container has a rectangular shape;
Four storage tanks arranged at the positions of the four apexes of the rectangular shape;
The imaging device according to claim 11, comprising four tubes arranged at positions of four sides of a rectangular shape. An imaging device according to any one of claims 1 to 12,
An imaging system comprising: a lens device that focuses light on the imaging element. The lens device is
One or more lenses;
A lens barrel that holds the one or more lenses inside;
The imaging system according to claim 13, further comprising a third center-of-gravity position adjustment unit that is held inside the lens barrel and adjusts the position of the center of gravity of the lens device. The imaging system according to claim 13 or 14, further comprising a gimbal that rotatably holds the imaging device and the lens device.   A moving body that moves with the imaging system according to claim 14. A lens device,
One or more lenses;
A lens barrel that holds the one or more lenses inside;
A lens apparatus comprising: a first center-of-gravity position adjustment unit that is held inside the lens barrel and adjusts the position of the center of gravity of the lens apparatus. A first centroid position adjusting unit having a fluid, a container that contains the fluid, and one or more first valves that control movement of the fluid in the container;
A posture of an object to which the first center-of-gravity position adjustment unit is attached, and a control unit that controls opening and closing of the one or more first valves,
The controller is
Obtaining information indicating the position of the center of gravity of the object system including the object and the first center of gravity position adjustment unit;
Based on the information indicating the position of the center of gravity, change the posture of the object,
Closing the one or more valves after maintaining a posture of the object with the one or more first valves open for a predetermined time;
Center of gravity adjustment system. The controller is
Changing the posture of the object, and maintaining the posture of the object with the one or more first valves open for the predetermined time, and then closing the one or more first valves, In the procedure of acquiring information indicating the position of the center of gravity of the object system including the object and the first center of gravity position adjustment unit, the position of the center of gravity of the object system including the object and the first center of gravity position adjustment unit is first. The center-of-gravity position adjustment system according to claim 18, wherein the system is repeated until it falls within a reference range. A position of the center of gravity of the object system in a direction different from the first center-of-gravity position adjustment unit, comprising a fluid, a container containing the fluid, and one or a plurality of second valves for controlling movement of the fluid in the container A second center-of-gravity position adjustment unit capable of adjusting
The controller is
When the position of the center of gravity of the object system including the object and the first center of gravity position adjustment unit is within the first reference range,
The posture of the object is changed, and after maintaining the posture of the object in a state in which the one or more second valves are open for a predetermined time, the one or more second valves are closed, The procedure for obtaining information indicating the position of the center of gravity of the object system including the object and the second center of gravity position adjustment unit is the second reference for the position of the center of gravity of the object system including the object and the second center of gravity position adjustment unit. The center-of-gravity position adjustment system according to claim 19, wherein the system is repeated until it falls within a range. The controller is
An object including the object and the first center-of-gravity position adjustment unit with reference to information in which the position of the center of gravity of the object system including the object and the first center-of-gravity position adjustment unit is associated with the posture of the object Obtaining information indicating the posture of the object corresponding to the position of the center of gravity of the system;
Based on the information indicating the posture of the object, change the posture of the object,
The center-of-gravity position adjustment according to claim 18, wherein the one or more first valves are closed after maintaining the posture of the object with the one or more first valves open for the predetermined time. system. A position of the center of gravity of the object system in a direction different from the first center-of-gravity position adjustment unit, comprising a fluid, a container containing the fluid, and one or a plurality of second valves for controlling movement of the fluid in the container A second center-of-gravity position adjustment unit capable of adjusting
The controller is
An object including the object and the second center-of-gravity position adjustment unit with reference to information in which the position of the center of gravity of the object system including the object and the second center-of-gravity position adjustment unit is associated with the posture of the object Obtaining information indicating the posture of the object corresponding to the position of the center of gravity of the system;
Based on the information indicating the posture of the object, change the posture of the object,
The center-of-gravity position adjustment system according to claim 21, wherein the one or more second valves are closed after maintaining the posture of the object with the one or more second valves open for a predetermined time. . The controller is
By driving a gimbal that rotatably holds the object using one or more motors, the posture of the object is changed,
The drive torque of the one or more motors when the object is maintained in a predetermined posture is acquired as information indicating the position of the center of gravity of the object. The center of gravity position adjustment system described. Obtaining information indicating the position of the center of gravity of an object to which a fluid, a container containing the fluid, and a center of gravity position adjustment unit having one or more valves for controlling movement of the fluid in the container are attached; ,
Changing the posture of the object based on the information indicating the position of the center of gravity;
Maintaining the posture of the object with the one or more valves open for a predetermined time; and
Closing the one or more valves. Obtaining information indicating the position of the center of gravity of an object to which a fluid, a container containing the fluid, and a center of gravity position adjustment unit having one or more valves for controlling movement of the fluid in the container are attached; ,
Changing the posture of the object based on the information indicating the position of the center of gravity;
Maintaining the posture of the object with the one or more valves open for a predetermined time; and
A program for causing a computer to execute the step of closing the one or more valves.

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